Toy robot and actuating means therefor



April 14, 1964 L. STANETZKI 3,123,575

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United States Patent 3,128,575 TOY ROBOT AND ACTUATING MEANS THEREFQRLothar Stanetzki, Bonn, Germany, assignor to Markes 8:

Co., Kommanditgesellschaft, Ludenscheid, Westphalia,

Germany Filed Jan. 18, 196i), Ser. No. 3,176 Claims priority,application Germany Feb. 2, 1959 9 Claims. (Cl. 46-120) The presentinvention relates to automatons in general, and more particularly to atoy robot which is combined with means for imparting thereto movementsin imitation of human beings, animals or machines. The invention alsorelates to an actuating system which is releasably connectable withdifferent types of automatons and is adapted to select and to thereuponbring about a single, two or more movements either simultaneously or inany desired sequence and for any desired length of time.

Toy robots in imitation of human or animal beings are known. However, aserious drawback of many presently utilized toys of this generalcharacter is that all movements which the toys are capable of performingmust occur in a predetermined sequence, i.e. that the player cannotchange the sequence of movements as he wishes. Consequently, the playerrapidly loses his interest in the plaything because he knows that, withthe exception of starting or arresting the movement, he cannot influencethe actions performed by the toy.

An important object of the present invention is to provide an improvedtoy automaton which is constructed and assembled in such a way that themovements which it is adapted to perform are independent of each otherand may be initiated either simultaneously or in any desired sequencewhich depends only upon the users choice.

Another object of the invention is to provide a toy robot whose limbs,trunk and eventually certain other component parts may perform a seriesof movements which may be initiated by direct control or by remotecontrol but always entirely at the will of the operator who is not onlyfree to select the sequence of various movements but may also repeat thesame movement or movements at any desired intervals and for any desiredperiods of time. v

A further object of the instant invention is to provide a novelattachment for a toy robot of the above outlined characteristics whichmay be detached from one automaton and utilized for selecting andimparting movements to one or more additional automatons, i.e. which maybe used alternately with a series of movable toys.

A concomitant object of the invention is to provide a toy automatonwhich, in addition to being practical as a plaything, may be called uponto perform useful work, such as advertising and the like.

An additional object of the present invention is to provide a toy robotwhich may be actuated by mechanical, fluid, electric or acoustic means.

With the above objects in view, the invention resides in the provisionof a toy automaton or advertising autom-- aton which, when assuming theform of a mechanical man, is capable of performing a series ofmovements, such as walking, lifting of arms, moving the arms toward andaway from each other, bending the upper body portion, and eventually anumber of other movements. The visible component parts of the automatonare movable by individual drives which are installed in the body of theautomaton and which preferably assume the form of gear trains orelectric motor means. Owing to the fact that each movement is broughtabout by a separate drive, the movements are not interdependent but maybe carried out whenever and as long as the respective drive is inoperaice tion. For example, when the invention is embodied in amechanical man which can perform, say, four different types ofmovements, the four drives may comprise four parallel driving shaftswhose motion-receiving ends are disposed on the periphery of a circle tobe selectively rotatable by an actuating and controlling system whichmay be attached to the automaton and comprises a coupling assemblyconnectable with one, two or more aforementioned driving shafts andwhich is also operatively connected with a motion generating member,such as a hand crank or the like. Thus, when the user operates themotion generating member, the coupling assembly transmits rotation tothe selected driving shaft or shafts in the toy automaton and bringsabout a selected movement or two or more movements. For example, themechanical man may be caused to walk or to run after an object, to bendin forward direction while picking up the object with its upper limbs,to straighten the body while lifting the object with its upper limbs, toload the object onto a toy wagon or the like, and to thereupon push thewagon to a selected point. The player may change, repeat or prolong thevarious movements at will merely by retaining the coupling assembly in aselected position or by either rapidly or less frequently shifting thecoupling assembly into operative engagement with one or more differentdriving shafts in the toy automaton. When the latters drives consist ofelectric motors, the movements may be initiated and their sequencecontrolled through one or more electric cables of desired length.

When the toy is actuated by a series of mechanical drives and by amechanical control system, the latter preferably utilizes atwo-component flexible shaft for connecting the coupling assembly withthe motion generating member. The flexible shaft may comprise a core orinner component which causes rotation of a selected driving shaft in theautomaton, and a tubular outer component whose rotary movements may beutilized for shifting the coupling assembly into operative engagementwith one, two or more selected driving shafts in the automaton. Thus,the two components of a single flexible shaft are capable of selectingand causing any of a large number of movements which the toy automatonis called upon to perform. The coupling assembly may comprise a couplingmember provided with one or more rotary sliders which are angularlydisplaceable by the outer component of the flexible shaft, and a seriesof axially movable shaft members, each corresponding to and eachalignable with one driving shaft in the toy automaton to be shifted bythe slider into operative engagement with the driving shafts, whereuponthe core of the flexible shaft brings about rotation of the shaftmembers in the coupling assembly to rotate each driving shaft which isconnected to the latter.

Certain other features of the invention reside in the provision ofspecific drives which are adapted to cause different movements of thetoy automaton without being connected with each other; in a novelarrangement of various drives in the body of the toy automaton in suchmanner that the drives occupy very little space; and in the provision ofsimple and reliable means for alternately connecting the motiongenerating member with the one or other component part of the flexibleshaft.

The novel features which are considered as characteristic for theinvention are set forth in particular in the appended claims. Theinvention itself, however, both as to its construction and its method ofoperation, together with additional objects and advantages thereof, willbe best understood from the following detailed description of a specificembodiment when read in connection with the accompanying drawings, inwhich:

FIG. 1 is a schematic side elevational view of a toy 29 robot embodyingmy invention and represented in the form of a mechanical man, the idleposition of the toy robot being shown in full lines, the broken linesindicating the position of lower limbs and upper limbs during walkingand in fully lifted position, respectively;

16. 2 illustrates the toy robot in the view of FIG. 1 but with the mainbody portion or trunk bent in forward direction, the position of theupper limbs in their uppermost position being indicated in broken lines;

FIG. 3 is a top plan view of the toy robot in the erect position of FIG.1 with the upper limbs extended in forward direction, the position ofeach upper limb in both extreme lateral positions being indicated inbroken lines;

FIG. 4 is a vertical section through the toy robot in the plane of itsupper limbs in hanging or idle position With the head removed andcertain of its component parts broken away, this illustration showingthe drive mechanisms mounted within the main body portion of theautomaton;

FIG. 5 is a vertical section through the toy robot and through one ofits shoes in a plane at right angles tothe plane of the section shown inFIG. 4, further showing one form of means for selectively initiatingmovements of the toy device;

FIG. 6 is a vertical section through another controlling and motionimparting means for the drive mechanisms shown in FIGS. 4 and 5;

FIG. 7 is a front elevational view of a coupling assembly forming partof the controlling means shown in FIG. 6 as seen in the direction ofarrow A; and

FIG. 8 is a top plan view of the coupling assembly as seen in thedirection of arrow B in FIG. 6.

Referring now in greater detail to the drawings, and first to FIG. 1,the broken lines indicate two of the four movements which the toyautomaton or robot in the form of a mechanical man R is adapted toperform. As is shown in full lines, when in idle position the toy Rmaintains its lower limbs LL in alignment with each other while theupper limbs UL hang along the sides of the main body portion or trunk T.The upper limbs are swingable all the way into their uppermost positionsUL but may be arrested at any point between the positions UL, UL, ifdesired. Each lower limb is swingable between the forward and rearwardextreme or end positions LL, LL, respectively. The drive mechanismswhich actually move the limbs between and into the indicated positionswill be described in greater detail in connection with FIGS. 4 and 5.

FIG. 2 shows the toy R in forwardly bent or inclined position in whichthe trunk assumes the position T. The upper limbs are shown in a newposition UL" which is intermediate the uppermost position UL and thelowermost position UL indicated in FIG. 1. Thus, the limbs of the toyrobot R are swingable in the erect as well as in the bent or forwardlyinclined position of the main body portion T. The head H is shownrigidly connected to the part T.

FIG. 3 illustrates the automaton R in the erect position of FIG. 1 butwith the upper limbs outstretched in forward direction, i.e., in theposition UL". The mechanism is capable of moving each upper limboutwardly and inwardly from the position UL", that is, into thepositions ULA and ULB, respectively. The movements into the positionsULA, ULB may also be performed when the trunk is in the forwardlyinclined position T of FIG. 2.

The four movements indicated in FIGS. 1 to 3, i.e., lifting or loweringof upper limbs, walking, bending of the trunk, and moving of upper limbsinwardly toward and outwardly away from each other, can be performed inany desired sequence; this enables the toy automaton to execute a seriesof orders by direct or remote control in a manner rather closelyresembling that of a human being.

Referring now to FIGS. 4 and 5, there are shown four drive mechanisms,installed in the shell I of trunk T,

4 which cause the trunk and the limbs to execute the movements indicatedin FIGS. 1 to 3. The upper arms 28a, 28b forming part of the upper limbsUL are articulately fixed to the upper part of the shell 1 in a mannerto be described in greater detail hereinafter. The lower part of thehollow member 1 receives a hollow bearing block 4 which is formed withor carries a pair of aligned external horizontal journals 3a, 3b. Theinner side of the shell 1 carries a pair of horizontally aligned journalbearings 2a, 2b for receiving the ends of journals 3a, 3b, respectively,whereby the shell 1 is pivotable about the common axis of members 3a, 3bto permit movements of the trunk into and between the positions T, Tshown in FIGS. 1 and 2. The journals 3a, 3b pivotably support thesleeve-like upper ends 9a, 9b of link-shaped leg members 5a, 5b,respectively. The lower ends of leg members 5a, 5b are pivotally mountedon horizontal pins 10a, 10b carried by the open-bottomed shoes 7a, 7b,respectively. The lower limbs LL further comprise a pair of link-shapedstabilizing members 6a, 6b which are parallel with and adjacent to theleg members 5a, 5b, respectively. The upper ends of stabilizing links6a, 6b are articulately connected to the block 4 by means of horizontalpins 6c which are parallel with the journals 3a, 3b. Only the pin 6c ofstabilizing member 6a is shown in FIG. 5. Two additional horizontal pins6d connect the lower ends of stabilizing members 6a, 6b with the shoes7a, 7b, respectively (only the pin 6d of stabilizing member 6a beingshown in FIG. 5 of the drawings). The upper side of each shoe is formedwith a suitable cutout 7c which permits free passage of parts 5a, 6a or5b, 6b even when the latter are caused to pivot about their pivot axlesin the shoes.

The block 4, the shoes 7a, 7b and the link-shaped pairs of members 5a6a,Sb-6b form a parallelogram which is best shown in FIG. 5 and whichinsures that the block 4 maintains its upright position with respect tothe plane of the ground 8 regardless of whether the members 5a 6a and5b-6b are caused to pivot about their upper or lower pivot axles. Thus,the block 4 may be moved toward and away from the plane of the ground 8but does not change its position with respect to the vertical planepassing through the common axis of journals 3a, 3b. The block 4 takes upall static and dynamic forces when the leg members 5a, 5b are set inmotion.

The Walking movements of leg members 5a, 5b are initiated by a firstdrive which includes a gear 11 whose horizontal driving shaft 11a isrotatably mounted in the rear wall of the shell 1 (see FIG. 5) and isformed with a non-circular, e.g. square, blind bore 11b whose pur-.

pose will be described hereinafter. The gear 1 1 meshes with a largerpinion 12 which is mounted on a horizontal worm shaft 13a rot-atablycarried by the block 4. The worm 13 on the shaft 1.3a meshes with a wormwheel 14 whose horizontal shaft 14a is rotatably mounted in the block 4.The axis of the shaft 14a is perpendicular to the axis of shaft 13a. Theends of the shaft 14a carry a pair of cranks 15a, k which are displacedthrough degrees with respect to each other and support crank pins 16a,16b, respectively. The pins 16a, 16b are slidably received in closed camslots 17a, 17b formed in the leg members 5a, 5b below their respectivesleeves 9a, 9b. When the gear 11 is rotated, it causes the pinion 12,the worm 13 and the worm wheel 14 to rotate the shaft 14a with the pins16a, 1% whereby the leg members 5a, 5b describe a pendulum movementabout the journals 3a, 3b, respectively, to move the lower limbs betweenthe positions LL, LL" shown in FIG. 1. This movement closely resemblesthe walk of a human being. Each of shoe members 7a, 7b contains a frontwheel (only the front wheel 19a in member 701 being shown in FIG. 5) anda rear wheel 18a, 1%, respectively. These wheels are mounted onhorizontal axles 19c and rest on the ground 8. Each of the rear wheels18a, 18b carries a coaxial ratchet (only the ratchet 20a of the wheel18a is shown in FIG. 5) which, in cooperation with a resilient pawl (seethe member 21a in FIG. prevents rotation of the respective rear wheel inreanward direction. Thus, the simulated walking movement of leg members5a, 5b brings about an advance of the toy R in forward direction. Asmentioned hereinbefore, the link pairs Sir-6a and 5b6b form parts of aparallelogram which prevents any tilting of the block 4, i.e., thelatter is maintained in upright position even if the leg members 5a, 5bpivot about the journals 3a, 3b, respectively, when the toy performs amovement in forward direction.

The bending and unbending movements of the trunk T between the positionsT, T' (FIGS. 1 and 2) are brought about by a second drive whichcomprises a worm 22 mounted on the driving worm shaft 22a. The rear endof the driving shaft 22a is formed with a non-circular, e.g. square,blind bore 22b and is rotatably supported in an opening of the rear wallforming part of the shell 1. The broken-away forward end of horizontaldriving shaft 22a extends into a non-represented bearing formed in thefront wall of the member 1. The driving shaft 22a is parallel with thedriving shaft 11a of the gear 11 and its worm 22 meshes with a wormwheel 23 mounted on a horizontal shaft 23a which latter is supported bya pair of bearing brackets 1b of the shell 1. The worm wheel 23 mesheswith a toothed segment 24 formed along one side and adjacent the upperedge of the block 4. The center of curvature of the segment -24coincides with the common axis of journals 3a, 3b; therefore, wheneverthe driving shaft 22a is rotated, the worm 22 and worm wheel 23 willbring about a pivotal movement of the shell 1 about the journals 3a, 3b.The direction of such movement depends upon the direction in which thedriving shaft 22a rotates, i.e., clockwise or anti-clockwise. Thus, anyrotary movements of worm wheel 23 will bring about inclination of thetrunk T from the position of FIG. 1 toward and into the full-lineposition T of FIG. 2, or vice versa.

The upper part of the shell 1 houses two additional drives which impartsymmetrical movements to the upper limbs UL. One of the drives comprisesa horizontal arm shaft 25 which is of non-circular, e.g., rectangular,crosssectional contour (see FIG. 5) and carries a pair of axiallyshi-ftable slide blocks 26a, 26b. Each of members 26a, 26b is formedwith a longitudinal bore slidably but non-rotatably receiving the armshaft "25. The outer sides of slide blocks 26a, 26b are of cylindricalcontour. As can be observed in FIG. 4, the shell 1 is formed with a pairof horizontally aligned circular cutouts 27a, 27b for rotatablyreceiving the shiftable slide blocks 26a, 26b, respectively, i.e., thearm shaft 25 is rotatable in the shell 1. The upper arms 28a, 28b areformed with hollow spherical end portions 28a, 28b, respectively, havinglateral cutouts for the passage of the ends of arm shaft 25 and of theouter end portions of slide blocks 26a, 26b, respectively. The sphericalupper ends 28a, 28b of members 28a, 28b carry pivot pins 29a, 2% whichare swingably connected to the ends of the arm shaft 25, i.e., the upperarms 28a, 28b and the entire upper limbs UL are pivotable about themembers 2%, 2% toward and away from each other between the positionsULA, ULB shown in FIG. 3. The axes of pins 29a, 2% normally are parallelwith the axes of driving shafts 11a and 22a.

The central portion of the arm shaft 25 is non-rotatably connected witha gear 30 which meshes with a worm 31 mounted on the driving worm shaft31a, the latter being parallel with the driving shafts 11a, 22a (seeFIG. 5). The rear end of the driving shaft 31a is formed with anon-circular e.g. square, blind bore 31b and is mounted in the rear wallof the shell 1. The forward end of the horizontal driving member 31a isrotatably received in a bearing |1c formed at the inner side of thefront wall forming part of the shell 1. When the driving shaft 31a isrotated, it causes rotation of the gear 30 and of the arm shaft 25whereby the latter moves the upper limbs between the positions UL and ULshown in FIG. 1.

Simultaneous lateral movements of both upper limbs between the positionsULA, ULB of FIG. 3 may be brought about as follows: The outer ends ofslide blocks 26a, 26b are formed with extensions 26a, 26b, respectively.These extensions have closed vertical slots 32a, 32b for the pins 33a,33b, respectively. The pins 33a, 33b are mounted in the spherical endportions 28a, 28b of members 28a, 28b and are parallel with the pins29a, 2912, respectively. When the upper limbs are parallel with eachother, the pins 33a, 33b are received in the central portions of slots32a, 3217, respectively. The distance between the pins 29a, 29b and 33a,33b is comparatively small, with the latter located below the pins 29a,2% when the upper limbs UL hang along the sides of the main body portionor trunk T. When the slide blocks 26a, 26b are moved outwardly and awayfrom each other, i.e., away from the gear the respective extensions 26a,26b cause the pins 33a, 33b to pivot the upper limbs about the pins 29a,29b and into the positions ULA (FIG. 3). When the slide blocks 26a, 26bmove along the arm shaft 25 in a direction toward each other, the pins33a, 33b pivot the upper limbs into the position ULB. Thus, the pins33a, 33b act as eccentrics whenever the slide blocks 26a, 2612 areshifted toward or away from each other.

The uniformity of movements performed in mirror reverse by the upperlimbs UL is brought about by a novel drive which includes a worm 34mounted on a horizontal driving worm shaft 34a. The non-represented rearend of the driving shaft 34a is formed with a non-circular bore (similarto bores 11b, 22b and 31b) and is rotatably received in the rear wall ofthe shell 1. The latters forward or front wall is formed with a hearingIn which receives the front end of the driving shaft 34a (see FIG. 5).The worm 34 meshes with an idler gear 35 whose smaller-diametercompanion gear 35a meshes with a gear 36 mounted on a further worm shaft37. The shaft 35b of speed reducing gears 35, 35a is mounted in bearingbrackets 1d forming part of or carried by the shell 1. Similar brackets1e support the ends of the worm shaft 37. The latter carries a pair ofworms 38a, 38b whose threads are inclined in opposing directions. Thethreads of worms 38a, 38b mesh with internal threads formed in the lowerends of two entraining members 39a, 3%, respectively. The slide blocks26a, 26b are formed with reduced neck zones 2621 which extends into therecesses or spaces 39s between the bifurcated upper end portions ofentraining members 39a, 39b.

When the worm 34 is rotated by its driving shaft 34a, the gears 35, 35aand 36 rotate the shaft 37 of Worms 38a, 38b whereby the entrainingmembers 39a, 39b are caused to move toward or away from each other,depending upon whether the driving shaft 34a is rotated in clockwise oranticlockwise direction. The members 39a, 3% entrain the slide blocks26a, 26b along the arm shaft 25 and bring about the afore-describedmovements of upper limbs between and into the position ULA, ULB. As willbe readily understood by referring to FIGS. 4 and 5, the rotarymovements of arm shaft 25 under the action of gear 30 and driving shaft31a are independent of the shifting movements performed by the blocks26a, 26b under the action of the driving shaft 34a. Thus, the upperlimbs may be moved toward and away from each other regardless of themomentary angular position of the arm shaft 25, or vice versa.

It will be noted that the various drives for imparting four differenttypes of movements to the trunk and limbs of the toy automaton can bereadily accommodated in the interior of the shell 1 in a space-savingmanner. The axes of all four parts which actually initiate themovements, namely, the driving shaft 11a of gear 11 (walking), thedriving shaft 22a of worm 22 (forward bending and return movements ofthe trunk T in upright position),

the driving shaft 31a of worm 31 (raising and lowering of the upperlimbs UL), and the driving shaft 34a of worm 34 (movements of the upperlimbs UL toward and away from each other), are parallel with each otherand their rear ends are disposed on the periphery of a com mon circle Cwhich is illustrated in broken lines in FIG. 4. The driving energy whichbrings about rotation of driving shafts 11a, 22a, 31a and 34a may bedelivered to these parts by a preferably detachable actuating andcontrol system ACS which is illustrated in FIG. 6. The above-describedarrangement of driving shafts 11a, 22a, 31a and 34a facilitatesconvenient coupling of the system ACS with the shell 1 when the toyautomaton is in actual use. The coupling or uncoupling of the system ACSwith a selected drive mechanism in the shell 1 is brought about bynon-circular ends or studs parallel shaft members which are extendableinto the non-circular blind bores 11b, 22b, 31b and the non-circularbore of the driving shaft 34a.

The actuating and control system ACS comprises a handgrip member 40, aflexible motion-transmitting shaft 41, and a coupling assembly 42. Forexample, the length of flexible shaft 41 may be in the range of 3 feetor thereabouts. It will be noted that the median portion of this shaftis broken away in the view of FIG. 6.

The handgrip member 40 comprises means for generating mechanical drivingenergy and for transmitting such energy to the components of theflexible shaft 41. The hollow housing 40a of this handgrip memberrotatably supports a rigid shaft 43 which is axially shiftable whenfinger pressure is applied against its button-shaped trunnion 47 whichmounts one end of the member 43 in the housing 40a. A helical expansionspring 48 acts between the forward wall of the housing 40a and anannular collar 43a on the shaft 43 whereby the latter is constantlybiased into the position of FIG. 6 in which the button or trunnion 47projects rearwardly and from the housing 40a. The rigid shaft 43 carriesa coaxial pinion 44 which meshes with a crown wheel 45 whose crank shaft45a is perpendicular to the axis of shaft 43 and is rotatably mounted inthe housing 40a of the handgrip member 40. The crank shaft 45a isrotatable by an external motion generating member of crank 46 whichcomprises a knob 46a. Parts 44, 45 constitute a reducing gear trainbetween the shafts 43, 45a.

The rigid shaft 43 further rigidly supports a coaxial gear 49 which isnormally in mesh with a gear 50; the latters cylindrical hub 50a isrotatably mounted in an internal bearing 40b of the housing 40a and isnonrotatably fixed to the rear end of a flexible cable-like core 52constituting the inner component of the shaft 41. The tubular outercomponent 53 of flexible shaft 41 is connected with a gear 51 which iscoaxial with the gear 50 and is formed With a sleeve 51a rotatablyreceived in the bearing 400 of the housing 49a. The gear 51 meshes withthe gear 49 of rigid shaft 43 when the latter is axially shifted againstthe bias of resilient means 48. It is advisable to manufacture thecomponents 52, 53 of flexible shaft 41 in such a way that they are freeof torsional stresses.

The above described mechanism in the handgrip member 40 enables anoperator to selectively transmit rotational energy generated by thecrank 46 either to the gear 50 and hence to the inner component 52, orto the gear 51 and through the latter to the outer component 53 of theflexible shaft 41. Thus, by axially moving the shaft 43 upon applicationof finger pressure against the button 47, the user is in a position torotate the outer component 53 whereas, when the shaft 43 is retractedunder the bias of the constantly acting spring 48, a rotation of handcrank 46 will bring about rotation of the core 52. The rotating outercomponent 53 enables the user to select any of the four movements whichthe toy robot R should perform, While the inner component 52,

8: when rotated by the hand crank 46, brings about the desired movement.

The coupling assembly 42 comprises a circular boxshaped container 54whose rear side (the right-hand side in FIG. 6) rotatably supports acoaxial coupling member 55 which is fixed to the forward end of and isrotatable by the outer component or tube 53 of flexible shaft 41. Thecoupling member 55 comprises a radial slider 56 which is constantlybiased (the biasing means not shown) into frictional contact with therear side of the box 54. When the tube 53 rotates the coupling member55, the slider 56 circles along the periphery of a circle whose diameterequals the diameter of the circle C shown in FIG. 4.

The box 54 houses four parallel shaft members 58a, 58b, 58c and 58d forthe gears 57a, 57b, 57c, and 57d, respectively. The ends of shaftmembers 58a-58d are disposed on the periphery of a common circle (seeFIG. 7) whose diameter also equals the diameter of the circle C. Theshaft members 58a-5Sd are constantly biased by springs 59a, 59b, 59c and59d in a direction to move the rear ends of these members throughsuitable openings in the rear wall of the box 54; The forward ends ofshaft members 58a-58d are of non-circular, i.e., square, cross-sectionalcontour and may be moved by the action of the slider 56 forwardly andbeyond the front wall of the box 54.

The forward end of the inner component or core 52 of the flexible shaft41 is coaxially connected with a driver gear 60 whose width is such thatit remains in permanent mesh with the gears 57a-57d regardless of thelatters axial position. Thus, when the core 52 rotates, the driver gear60 will cause rotation of gears 57a-57d whereby the selected forward endof one of the shaft members 58a-58d transmits such rotary movement tothe corresponding drive in the shell 1.

It will be noted that FIG. 6 illustrates the slider 56 in contact withthe rear end 58a of the shaft member 58a whereby the lattersnon-circular forward end 58a" projects forwardly beyond the front plateof the coupling box 54; The forward end 58a" may enter the blind bore31b of the driving shaft 31a and, through the worm wheel 30, bringsabout movements of the upper limbs into and between the positions UL andUL whenever the crank 46 rotates the inner component 52 of the flexibleshaft 41. The operator may move any one of shaft members 58a58d intomotion-transmitting engagement with a selected driving shaft in theshell 1. All that is necessary is to depress the button 47 whereby thegear 49 moves into mesh with the gear 51 and may rotate the tube 53. Therotation of tube 53 may be arrested when the slider 56 is moved into aposition to engage and depress a selected shaft member in the box 54whereupon, by releasing the button 47, the operator retains the selectedone of shaft members 58a-58d in forwardly moved or motion-transmittingposition. As is shown in FIG. 8, the slider 56 is preferably formed witha conical end portion which engages and depresses the slightly roundedrear ends of shaft members 5811-58d when the slider 56 circles along therear end wall of the box 54. FIG. 6 shows the shaft member 580 inretracted position in which the rear end 580 projects into the path ofthe slider 56 and the noncircular forward end 580" is completelywithdrawn into the box 54. Consequently, the rotation of gear 570 by thedriver gear 60 cannot be transmitted to the driving shaft 11a in theshell 1. The shaft members 5%, 58d are used for transmitting rotarymotion to the driving shafts 34a, 22a, respectively. However, since theshaft members 58a-58d are equidistant from each other, each of thesemembers may be utilized for transmitting rotation to any one of thedriving shafts 11a, 22a, 31a and 34a depending on the angular positionof the box 54 with respect to the shell 1. The means for releasablyconnecting the box 54 with the rear wall of shell 1 is not shown in thedrawings. For example,

such connection may comprise a plug-and-socket assembly of any knowndesign as long as it insures axial alignment of shaft members 58a58bwith the driving shafts 11a, 22a, 31a and 34a. It will be readilyunderstood that the coupling assembly 42 may selectively transmit motionto two, three, five or more driving shafts in the shell 1 as long as theends of all such driving shafts are located on the periphery of a commoncircle C. The number of shaft members in the coupling box 54 is thenreduced or increased accordingly.

The attachment ACS may operate the toy automaton R as follows:

In the first step, the operator selects a desired function which the toyshould perform, eg the robot should lift and lower its upper limbs UL.The button or trunnion 47 is then depressed to connect the rigid shaft43 with the tube 53 of the flexible shaft 41. By rotating the crank 46,the operator moves the slider 56 along the rear wall of the box 54 untilthe sliders head engages and depresses a selected shaft member in thebox 54, i.e., the shaft member 58a. The forward end 58a" of this shaftmember is expelled into the bore 31b of the driving shaft 31a whereuponthe operator is free to release the button 47 as the arrested slider 56maintains the shaft member 58a in the position of FIG. 6. It will bereadily understood that a reducing gear drive may be provided betweenthe rigid shaft 43 and tube 53 or between the tube 53 and couplingmember 55 so that the latters speed is much less than the angular speedof the rigid shaft 43. Such reducing gear drive allows for very fineadjustments in the position of the slider 56. In addition, yieldablearresting or stop means, such as suitable leaf springs or the like, maybe provided to releasably retain the slider 56 in engagement with aselected shaft member in the coupling box 54, if desired. Such yieldablestop means prevent unintentional disengagement of the slider 56 from aselected one of shaft members 58a58d when the toy is in actual use.

Having now operatively connected the driving shaft 31a with the shaftmember 58a and hence with the driver gear 60, the operator rotates thecrank 46 which latter then transmits rotation to the core 52 through theparts 45a, 45, 44, 43, 49 and 50 in that order. The core 52 rotates thedriver gear 60 and hence the gears 57a57d together with their shaftmembers 58a58d. The shaft member 58a imparts rotary motion to thedriving shaft 31a which latter, through the Worm 31 and worm wheel 39,transmits rotation to the arm shaft 25. The rotating gears '7b57d arenot connected with the driving shafts 34a, 22a and 11a, and merely turnin the box 54. Depending upon the direction in which the crank 46 isrotated by an operator, the arm shaft 25 will either lift or lower theupper limbs UL. The rotation of driving shafts 11a, 22a, 34a may bebrought about in analogous manner, i.e., the operator again depressesthe button 47 and moves the slider 56 into engagement with a selectedshaft member in the coupling box 54 whereby the driver gear 60 is freeto rotate the corresponding driving shaft in the shell 1 as soon as thebutton 47 is released.

In accordance with an important feature of this invention, thedetachable actuating and control system ACS of FIG. 6 may be utilizedfor imparting movements to a number of toys different from the automatonshown in FIGS. 1 to 5. For example, the coupling assembly 42 may bereleasably connected with a toy animal, a crane, a tank, or any othertoy which is capable of performing a series of movements. In addition,it will be readily understood that the coupling member 55 may beequipped with two or more sliders corresponding to the part 56 so thatthe system ACS may simultaneously bring about two or more movements ofthe toy device which is momentarily connected therewith. Thus, if thesystem of FIG. 6 would utilize a second slider turned through 180degrees with respect to the part 56, the shaft members 58a and 580 couldbe coupled with the driving shafts 31a,

11a at the same time so that the toy automaton R could walk andsimultaneously lift and lower its upper limbs UL. Alternately, a pair ofslidrs could simultaneously bring about bending of the trunk T andmovements of upper limbs UL toward and away from each other. A number ofother combined movements is possible merely by changing the angularposition of one or more additional sliders.

According to a further feature of my invention, the drive mechanismsshown in FIGS. 4 and 5 may be replaced by electric drive means, such assuitable electric or fluid motors shown in FIG. 5, which may be mountedin the shell 1 and their operation controlled through one or more cablesfrom a remote point. Moreover, the dimensions of the toy automaton maybe increased sufficiently so that the device may be utilized as anadvertising automaton in display windows of stores and likeestablishments. For example, by equipping it with a suitable electric orelectro-acoustic actuating system, the advertising automaton could reactto wireless oral instructions to distribute advertising literature, toanswer questions and to perform a number of other functions. Two or moresuch functions may be performed simultaneously or in any desiredsequence. Thus, in its broadest aspects, the invention contemplates theprovision of a toy or an advertising automaton which houses suitablemechanical, hydraulic, pneumatic, electric or electro-acoustic drivesand whose drives may be set in motion by direct or remote control, i.e.,mechanically as shown in the drawings, by fluid impulses, by electricimpulses through one or more cables, or by acoustic impulses, to bringabout one, two or more movements either individually or in a selectedsequence.

Without further analysis, the foregoing will so fully reveal the gist ofthe present invention that others can, by applying current knowledge,readily adapt it for various utilizations by retaining one or more ofthe features that, from the standpoint of prior art, fairly constituteessential characteristics of the generic and specific aspects of thisinvention and, therefore, such adaptations should and are intended to becomprehended within the meaning and range of equivalence of thefollowing claims.

What is claimed as new and desired to be secured by Letters Patent is:

1. In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear Wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a way that the latter perform movements in imitation of the walkof a human being; second drive means operatively connected with saidshell and with said block for pivoting the shell with respect to theblock; third drive means for lifting and lowering the upper limbs withrespect to said shell; fourth drive means for pivoting the upper limbstoward and away from each other, each of said drive means having adriving shaft rotatably mounted in said shell and each driving shafthaving an exposed end rotatably mounted in the rear wall of said shell,the ends of said driving shafts having non-circular bore accessible fromthe outer side of said rear wall, all said driving shafts being parallelwith each other and having their ends disposed on the periphery of acommon circle; and control and actuating means releasably connectablewith the rear wall of said shell and comprising means extendable intosaid bores for selectively initiating operation of the respective drivemeans.

2. In an automaton, such as a top robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a way that the latter perform movements in imitation of the walkof a human being; second drive means operatively connected with saidshell and with said block for pivoting the shell with respect to theblock; third drive means for lifting and lowering the upper limbs withrespect to said shell; fourth drive means for pivoting the upper limbstoward and away from each other, each of said drive means comprising adriving shaft rotatably mounted in said shell and each driving shafthaving an exposed end rotatably mounted in said rear wall, the ends ofsaid driving shafts having non-circular bores accessible from the outerside of said rear Wall, all said driving shafts being parallel with eachother and having their ends disposed on the periphery of a circle; andcontrol and actuating means comprising a coupling assembly releasablyconnectable with said rear wall and including a plurality of parallelshaft members having non-circular ends each of which is shiftable intoone of said bores, a flexible shaft having an inner and an outercomponent, means operatively connected with the outer component forshifting the ends of selected shaft members into the respective boreswhen the outer component rotates, means operatively connected with theinner component and with said shaft members for rotating the latter whenthe inner component rotates, rotary motion generating means, and meansfor alternately connecting said components with said rotary motiongenerating means whereby said motion generating means may be utilizedfor shifting the ends of selected shaft members into the bore ofcorresponding driving shafts and for thereupon rotating the drivingshafts to thereby operate the respective drives.

3. In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the latter perform movements in imitation of thewalk of a human being; second drive means operatively connected withsaid shell and with said block for pivoting the shell with respect tothe block; third drive means for lifting and lowering the upper limbswith respect to said shell; fourth drive means for pivoting the upperlimbs toward and away from each other, each of said drive means having adriving shaft rotatably mounted in said shell and each driving shafthaving an end rotatably mounted in said rear wall, the ends of saiddriving shafts having non-circular bores accessible from the outer sideof said rear wall, all said driving shafts being parallel with eachother and having their ends disposed on the periphery of a commoncircle; and control and actuating means comprising a coupling assemblyreleasably connectable with said rear wall and including a plurality ofparallel shaft members having non-circular ends each of which isshiftable into a different one of said bores, gears mounted on saidshaft members, a driver gear permanently meshing with each of said firstmen tioned gears, a flexible shaft having an inner component drivinglyconnected with said driver gear and a coaxial outer component, acoupling member connected with said outercomponent and adapted toconsecutively shift said shaft members into the respective bores whenthe outer component rotates, rotary motion generating means, and meansfor alternately connecting said motion generating means with thecomponents of said flexible shaft whereby the motion generating meansmay be utilized for shifting the non-circular ends of selected shaftmembers into the corresponding bores when connected with the outercomponent and for rotating the driving shafts engaged by thecorresponding shaft members when connected with the inner component ofsaid flexible shaft.

4. 'In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the latter perform movements in imitation of thewalk of a human being; second drive means operatively connected withsaid shell and with said block for pivoting the shell with respect tothe block; third drive means for lifting and lowering the upper limbswith respect to said shell; fourth drive means for pivoting the upperlimbs toward and away from each other, each of said drive means having adriving shaft rotatably mounted in said shell and each driving shafthaving an end rotatably mounted in said rear wall, the ends of saiddriving shafts having non circular bores accessible from the outer sideof said rear wall, all said driving shafts being parallel with eachother and having their ends disposed on the periphery of a commoncircle; and control and actuating means comprising a coupling assemblyreleasably connectable with said rear wall and including a plurality ofparallel shaft members having non-circular ends located on the peripheryof a common circle whose diameter equals the diameter of said firstmentioned circle whereby the non-circular end of each shaft member ismovable into the bore of one of said driving shafts, gears mounted onsaid shaft members, a driver gear permanently meshing with each of saidfirst mentioned gears, a flexible shaft having an inner componentdrivingly connected with said driver gear and a coaxial outer component,a coupling member connected with said outer component and adapted toconsecutively shift said shaft members into the respective bores whenthe outer component rotates, rotary motion generating means, and meansfor alternately connecting said motion generating means with thecomponents of said flexible shaft whereby the motion generating meansmay be utilized for shifting the non-circular ends of selected shaftmembers into the corresponding bores when connected with the outercomponent and for rotating the driving shafts engaged by thecorresponding shaft members when connected with the inner component ofsaid flexible shaft.

5. In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the latter perform movements in imitation of thewalk of a human being; second drive means operatively connected withsaid shell and with said block for pivoting the shell with respect tothe block; third drive means for lifting and lowering the upper limbswith respect to said shell; fourth drive means for pivoting the upperlimbs toward and away from each other, each of said drive means having adriving shaft rotatably mounted in said shell and each driving shafthaving an end rotatably mounted in said rear wall, the ends of saiddriving shafts having noncircular bores accessible from the outer sideof said rear wall, all said driving shafts being parallel with eachother and having their ends disposed on the periphery of a commoncircle; and control and actuating means comprising a coupling assemblyreleasably connectable with said rear wall and including a plurality ofparallel shaft members having non-circular ends, a container rotatablyand axially shiftably mounting said shaft members in such manner thattheir ends are disposed on the periphery of a'circle with a diameterequal to the diameter of said first mentioned circle whereby the end ofeach shaft member is shiftable into the bore of one of said drivingshafts, resilient means for constantly biasing said shaft members insuch direction as to move their ends out of respective bores, a gearmounted on each shaft member, a driver gear rotatably mounted in saidcontainer and meshing 'with each of said first mentioned gears, aflexible shaft having an inner component drivingly connected with saiddriver gear and a coaxial outer component, a

coupling member connected with said outer component and adapted toconsecutively shift said shaft members against the bias of saidresilient means into the respective bores when the outer componentrotates, rotary motion generating means and means for alternatelyconnecting said motion generating means with the components of saidflexible shaft whereby the motion generating means may be utilized forshifting the non-circular ends of selected shaft members into thecorresponding bores when connected with the outer component and forrotating the driving shafts engaged by the corresponding shaft memberswhen connected with the inner component of said flexible shaft.

6. In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the latter perform movements in imitation of thewalk of a human being; second drive means operatively connected withsaid shell and with said block for pivoting the shell with respect tothe block; third drive means for lifting and lowering the upper limbswith respect to said shell; fourth drive means for pivoting the upperlimbs toward and away from each other, each of said drive means havingan end rotatably mounted in said rear wall, the ends of said drivingshafts having non-circular bores accessible from the outer side of saidrear wall, all said driving shafts being parallel with each other andhaving their ends disposed on the periphery of a common circle; andcontrol and actuating means comprising a coupling assembly including abox-shaped container releasably connectable with the rear wall of saidshell, four parallel shaft members rotatably and axially shiftablymounted in said container and each aligned with one of said drivingshafts, each shaft member having a non-circular end projectable throughsaid container and into the bore of the corresponding driving shaft anda second end, resilient means for constantly biasing each shaft memberin a direction to move its non-circular end into and to expel its secondend from said container, a gear mounted on each shaft member, a drivergear rotatably mounted in the container and permanently meshing witheach of said first mentioned gears, a flexible cable having an innercomponent drivingly connected with said driver gear and a coaxial outercomponent, a coupling member connected to and rotatable with said outercomponent, said coupling member having at least one radial slideradapted to engage and depress the second ends of said shaft membersagainst the bias of said resilient means when rotated by said outercomponent whereby to move the non-circular ends of selected shaftmembers into the bores of corresponding driving shafts, rotary motiongenerating means, and means for alternately connecting said motiongenerating means with the components of said flexible shaft whereby themotion generating means may be utilized for shifting the non-circularends of selected shaft members into the corresponding bores whenconnected with the outer component and for rotating the driving shaftsengaged by the corresponding shaft members when connected with the innercomponent of said flexible shaft.

7. In an automaton, such as a toy robot, in combination, a main bodyportion including a shell having a front wall and a rear wall; a blockjournalled in said shell; upper limbs articulately carried by saidshell; lower limbs articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the latter perform movements in imitation of theWalk of a human being; second drive means operatively connected withsaid shell and with said block for pivoting the shell with respect tothe block; third drive means for lifting and lowering the upper limbswith respect to said shell; fourth drive means for i4 pivoting the upperlimbs toward and away from each other, each of said drive means having adriving shaft 10- tatably mounted in said shell and each driving shafthaving an end rotatably mounted in said rear wall, the ends of saiddriving shafts having non-circular bores accessible from the outer sideof said rear wall, all said driving shafts being parallel with eachother and having their ends disposed on the periphery of a commoncircle; and control and actuating means comprising a coupling assemblyreleasably connectable with said rear wall and including a plurality ofparallel shaft members having non-circular ends each of which isshiftable into a ditferent one of said bores, gears mounted on saidshaft memmembers, a driver gear permanently meshing with each of saidfirst mentioned gears, a flexible shaft having an inner componentdrivingly connected with said driver gear and a coaxial outer component,a coupling member connected with said outer component and adapted toconsecutively shift said shaft members into the respective bores whenthe outer component rotates, rotary motion generating means comprising ahollow handgrip member rotatably mounting said flexible shaft, a crankshaft rotatably mounted in said handgrip member, and a crank forrotating the crank shaft, and means for alternatively connecting saidmotion generating means with the components of said flexible shaftwhereby the motion generating means may be utilized for shifting thenon-circular ends of selected shaft members into the corresponding boreswhen connected with the outer component and for rotating the drivingshafts engaged by the corresponding shaft members when connected withthe inner component of said flexible shaft, said connecting meanscomprising a rigid shaft rotatably and axially shiftably mounted in saidhandgrip member at right angles to said crank shaft, said rigid shafthaving a button projectable from said handgrip member, resilient meansfor constantly biasing the rigid shaft in a direction to project thebutton from said handgrip member, a gear train drivingly connecting thecrank shaft with said rigid shaft, a first and a second gear mounted onsaid rigid shaft, a first gear member connected with said innercomponent and meshing with the first gear on said rigid shaft when saidbutton projects from the handgrip member, and a second gear memberconnected with said outer component and meshing with the second gear onsaid rigid shaft when the button is depressed by hand to axially shiftthe rigid shaft against the bias of said resilient means.

8. In an automaton, such as a toy robot, in combination, a block; a pairof lower limbs each comprising a shoe member, a leg member formed with acam slot and articulately connected with said shoe member and saidblock, and a stabilizing member parallel with said leg member andarticulately connected with said shoe member and said block; a crankshaft rotatably mounted in said block; a pair of diametrically opposedcranks fixed to the opposite ends of said shaft; a crank pin carried byeach of said cranks and each extending into one of said slots; firstdrive means including gear means for rotating said shaft; a main bodyportion pivotally connected with said block; second drive meansincluding gear means for pivoting said main body portion with respect tosaid block; a horizontal arm shaft rotatably mounted in said main bodyportion; a pair of upper limbs comprising upper arm members articulatelyconnected to the opposite ends of said arm shaft in such a way that thearm members are rotatable with said arm shaft and are movable withrespect thereto toward and away from each other; third drive meanscomprising gear means for rotating said arm shaft; a pair of blockmembers non-rotatably mounted on and slidable in the longitudinaldirection of said arm shaft; eccentric connections between said blockmembers and said upper members; fourth drive means comprising gear meansfor shifting said block member to and fro on said arm shaft, each ofsaid drive means adapted to operate independently of the other drivemeans; and control and actuating means connectable with each of saiddrive means for selectively initiating the operation of the same.

9. In an automaton, such as a toy robot, in combination, a block; a pairof lower limbs each articulately connected to said block; first drivemeans operatively connected with said lower limbs for operating the samein such a manner that the lower limbs perform movements in imitation ofthe walk of a human being; a main body portion comprising a shell havinga rear wall and pivotally connected with said block; second drive meansoperatively connected with said block and with said main body portionfor pivoting the latter with respect to said block; a pair of upperlimbs articulately connected with said main body portion; third drivemeans for lifting and lowering said upper limbs with respect to saidmain body portion; fourth drive means for pivoting the upper limbstoward and away from each other, each of said drive means comprising adriving shaft having an end rotatably mounted in said rear wall, theends of said driving shafts having noncircular bores accessible from theouter side of said rear wall, all said driving shafts being parallelwith each other and having their ends disposed on the periphery of acommon circle; and control and actuating means comprising a couplingassembly releasably connectable with said rear wall and including aplurality of parallel shaft members having non-circular ends each ofwhich is shiftable into a different one of said bores, gears mounted onsaid shaft members, a driver gear permanently meshing with each of saidfirst mentioned gears, a flexible shaft having an inner componentdrivingly connected with said driver gear and a coaxial outer component,a coupling member connected with said outer component and adapted toconsecutively shift said shaft members into the respective bores whenthe outer component rotates, rotary motion generating means comprising ahollow handgrip member rotatably mounting said flexible shaft, a crankshaft rotatably mounted in said handgrip member, and a crank forrotating the crank shaft, and means for alternately connecting saidmotion generating means with the components of said flexible shaftwhereby the motion generating means may be utilized for shifting thenon-circular ends of selected shaft members into the corresponding boreswhen connected with the outer component and for rotating the drivingshafts engaged by the corresponding shaft members when connected withthe inner component of said flexible shaft, said connecting meanscomprising a rigid shaft rotatably and axially shiftably mounted in saidhandgrip member at right angles to said crank shaft, said rigid shafthaving a button projectable from said handgrip member, resilient meansfor constantly biasing the rigid shaft in a direction to project thebutton from said handgrip member, a gear train diivingly connecting thecrank shaft with said rigid shaft, a first and a second gear mounted onsaid rigid shaft, a first gear member connected with said innercomponent and meshing with the first gear on said rigid shaft when saidbutton projects from the handgrip member, and a second gear memberconnected with said outer component and meshing with the second gear onsaid rigid shaft when the button is depressed by hand to axially shiftthe rigid shaft against the bias of said resilient means.

References Cited in the file of this patent UNITED STATES PATENTS1,880,138 Hubl Sept. 27, 1932 2,147,215 Price Feb. 14, 1939 FOREIGNPATENTS 528,749 Italy June 15, 1955 1,024,861 Germany Feb. 20, 1958

1. IN AN AUTOMATON, SUCH AS A TOY ROBOT, IN COMBINATION, A MAIN BODYPORTION INCLUDING A SHELL HAVING A FRONT WALL AND A REAR WALL; A BLOCKJOURNALLED IN SAID SHELL; UPPER LIMBS ARTICULATELY CARRIED BY SAIDSHELL; LOWER LIMBS ARTICULATELY CONNECTED TO SAID BLOCK; FIRST DRIVEMEANS OPERATIVELY CONNECTED WITH SAID LOWER LIMBS FOR OPERTING THE SAMEIN SUCH A WAY THAT THE LATTER PERFORM MOVEMENTS IN IMITATION OF THE WALKOF A HUMAN BEING; SECOND DRIVE MEANS OPERATIVELY CONNECTED WITH SAIDSHELL AND WITH SAID BLOCK FOR PIVOTING THE SHELL WITH RESPECT TO THEBLOCK; THIRD DRIVE MEANS FOR LIFTING AND LOWERING THE UPPER LIMBS WITHRESPECT TO SAID SHELL; FOURTH DRIVE MEANS FOR PIVOTING THE UPPER LIMBSTOWARD AND AWAY FROM EACH OTHER, EACH OF SAID DRIVE MEANS HAVING ADRIVING SHAFT ROTATABLY MOUNTED IN SAID SHELL AND EACH DRIVING SHAFTHAVING AN